CN109391774A - A kind of dynamic resource acquisition platform and method suitable for teaching process - Google Patents
A kind of dynamic resource acquisition platform and method suitable for teaching process Download PDFInfo
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- CN109391774A CN109391774A CN201811132954.2A CN201811132954A CN109391774A CN 109391774 A CN109391774 A CN 109391774A CN 201811132954 A CN201811132954 A CN 201811132954A CN 109391774 A CN109391774 A CN 109391774A
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- audio frequency
- frequency apparatus
- dynamic resource
- teaching process
- resource acquisition
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
- F16M11/26—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other by telescoping, with or without folding
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/42—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters with arrangement for propelling the support stands on wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
Abstract
The invention discloses a kind of dynamic resource acquisition platform suitable for teaching process, including host computer layer and slave computer layer, the host computer layer includes video equipment, audio frequency apparatus and industrial control host, and the industrial control host is connected with video equipment and audio frequency apparatus respectively；The slave computer layer includes master controller, motor, mobile chassis and lifting support, and the mobile chassis can move under the driving force effect of motor according to the control instruction that master controller issues in the horizontal direction, which is provided with height-adjustable lifting support；Serial communication is used between industrial control host and master controller, industrial control host issues position regulating command to master controller, realizes that the position of mobile chassis and lifting support is adjusted.Technical solution of the present invention collects undesirable situation for teaching process data resource in the prior art, by the way that video equipment and audio frequency apparatus and control device are integrated on identical carrier platform, can the teaching process data resource to Sounnd source direction carry out locking collection.
Description
Technical field
The invention belongs to audios, video data acquiring field, and in particular to a kind of dynamic resource suitable for teaching process
Acquisition platform and method.
Background technique
With the development of education big data technology, the acquisition of diversified educational data big data and based on big data analysis
Personalized customization study become the intellectual education epoch developing direction.In terms of the acquisition of education big data, main includes passing
The class live-broadcast of system/recorded broadcast technology, and the intelligent perception technology based on Internet of Things.The former is carried out as online education
Teaching process is digitized as audio and video resources and is able to store and propagates using multimedia technology by key technology means.The latter is more
Using sensor+intelligent analysis process mode, the information such as behavior, state in detection and analysis teaching process.For education
For the development of big data, it is the most necessary for obtaining enough educational resources.Wherein, relatively sufficient in literal resource
Instantly, the audio and video data of educational resource is comparatively still insufficient.But in the Internet education epoch, merely
Literal resource be no longer satisfied user diversification study demand.
For this problem, common mode is that the display equipment (such as blank, projection screen) to classroom takes fixed bat
The mode taken the photograph, while faculty is located at fixed position, to obtain the teaching process data of high quality.But this teaching process
Data lack of diversity and interactivity for users, cause user interest not high.In the prior art, what is generally taken is to more
The teaching process of kind form is recorded, and uploads to cloud for selection by the user after classification annotation is carried out to it.But it is counting greatly
According under educational environment, the demand of data is huge, and needs great renewal speed, and the recording efficiency of teaching resource data is exactly
It is very crucial.In general, the recording of resource data needs the cooperation of hardware and software.In view of actual demand, on the one hand
The equipment for recording teaching resource data needs conveniently moving, convenient for being recorded at any time with place；On the other hand, it records
The equipment of teaching resource data also needs to have good regulating power, such as according to the change in location of the person of giving lessons in teaching process into
Row follows.
Current classroom recorded broadcast and live streaming platform generally requires the video and audio that installation number is numerous on classroom to acquire equipment,
And a series of hardware and software devices such as back load operation computer subsystem, forwarding, storage, need professional to assist shooting at the scene, platform uses
It is complex with safeguarding, and higher cost.Its one side is difficult to adapt to the application demand under a variety of occasions, does not on the other hand have
The ability of self-control, in the case where no professional is adjusted, shooting, collecting effect can not reach best state, institute
Video, the audio data of acquisition are sometimes difficult to meet the requirement for the fining mark that subsequent big data education is carried out.Meanwhile
Due to lacking codes and standards, the application scenarios of intelligent perception technology, collecting efficiency, data format etc. are multifarious, very
Big degree hinders intelligent perception technology in the application in education big data acquisition field.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of dynamics suitable for teaching process
Collection of resources method and platform at least can partially solve the above problems.Technical solution of the present invention is directed to religion in the prior art
It learns process data resource and collects undesirable situation, it is same by the way that video equipment and audio frequency apparatus and control device to be integrated in
On carrier platform, can the teaching process data resource to Sounnd source direction carry out locking collection.
To achieve the above object, according to one aspect of the present invention, a kind of dynamic money suitable for teaching process is provided
Source acquisition platform, including host computer layer and slave computer layer, which is characterized in that
The host computer layer includes video equipment, audio frequency apparatus and industrial control host, and the industrial control host is set with video respectively
It is standby to be connected with audio frequency apparatus, and auditory localization is carried out according to the collected audio-frequency information of audio frequency apparatus, generate control instruction with
It controls video equipment and/or audio frequency apparatus carries out video data and/or audio data acquisition；
The slave computer layer includes master controller, mobile chassis and lifting support, and the mobile chassis can be in driving force
It is moved in the horizontal direction under effect according to the control instruction that master controller issues, which is provided with height-adjustable lifting branch
Frame, video equipment and/or audio frequency apparatus are mounted on lifting support by rotary head；
Serial communication is used between industrial control host and master controller, industrial control host is issued according to auditory localization to master controller
Position regulating command is realized that the position of mobile chassis and lifting support is adjusted, is adopted with adapting to the dynamic resource of various teaching process
Collection.
One as technical solution of the present invention is preferred, and slave computer layer further includes airborne sensor, the airborne sensor
It is mounted on the ultrasonic sensor on mobile chassis including at least one, for the obstacle in the mobile chassis direction of advance
Object is detected.
One as technical solution of the present invention is preferred, and slave computer layer further includes airborne sensor, the airborne sensor
It including four ultrasonic sensors, is separately mounted on the four direction of mobile chassis, for the mobile chassis advance side
Upward barrier is detected.
One as technical solution of the present invention is preferred, and slave computer layer further includes photoelectric encoder, the photoelectric encoder
According to the control instruction of master controller, the speed of mobile chassis, displacement and the direction of motion are adjusted.
One as technical solution of the present invention is preferred, and mobile chassis is equipped at least two driving wheels, and the photoelectricity is compiled
Code device controls driving wheel, and the speed of mobile chassis, displacement and the direction of motion are adjusted to realize.
One as technical solution of the present invention is preferred, and the master controller of slave computer layer packet is sensed equipped with multiple scalabilities
Device installs interface, to adapt to the integrated of multiple sensors and expand.
According to one aspect of the present invention, a kind of any one of utilization claim 1~6 dynamic resource is provided to acquire
The dynamic resource acquisition method of platform progress teaching process, which is characterized in that including
S1 starts industrial control host, and video equipment and audio frequency apparatus are initialized and started；
S2 audio frequency apparatus is captured and is acquired to the audio signal in the spatial dimension of place；
S3 parses the audio data received, calculates the distance between dynamic resource acquisition platform and sound source, generates
Position regulating command；
Mobile chassis and lifting support are adjusted to corresponding position according to position regulating command by S4；
S5 drives video equipment and audio frequency apparatus to be directed at sound bearing, starts to carry out video data and audio data respectively
Acquisition obtains teaching process data.
One as technical solution of the present invention is preferred, and initialization includes to video equipment and/or sound described in step S1
Frequency equipment carries out posture registration, and its step are as follows,
Plane space is divided into several sections according to audio frequency apparatus by S11, and each section correspond to audio frequency apparatus one picks up
Sound wave beam；
S12 selects any one section as starting section, and control camera pan-tilt rotates horizontally, and makes the video camera main line of sight
Successively pickup beam direction overlapping corresponding with each section；
Each section and its corresponding pickup beam direction and camera pan-tilt position are associated by S13, construct video
The space correlation table of equipment, audio frequency apparatus, so that industrial personal computer can drive video equipment to corresponding position according to auditory localization
Carry out video data acquiring.
One as technical solution of the present invention is preferred, includes in step S4,
S41 parses position regulating command, and the horizontal displacement route and video for obtaining dynamic resource acquisition platform are set
Standby, audio frequency apparatus preset height；
S42 adjusts lifting support, and video equipment, audio frequency apparatus are fixed to preset height；
Whether there are obstacles on S43 determined level displacement route, and obstacle information is then fed back to industry control master if it exists
Machine generates new position regulating command and enters step S41, and dynamic resource acquisition platform is otherwise moved to corresponding position.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have below beneficial to effect
Fruit:
1) video equipment and audio frequency apparatus are integrated into the same carrier platform using industrial control host by technical solution of the present invention
On, which includes the mobile chassis that can be moved horizontally and the lifting support for capableing of vertical shift, and one side can be with
Realize the mobile demand for adapting to the shooting of the teaching process data under a variety of environment, the movement of another aspect horizontal direction and vertical side
Upward movement can allow video equipment and audio frequency apparatus to reach any place within the scope of certain space, improve equipment acquisition
The accuracy of data.
2) technical solution of the present invention, industrial control host can carry out Sounnd source direction according to the collected audio data of audio frequency apparatus
Positioning, and according to the distance between self-position and sound source, it controls mobile chassis and lifting support is moved to suitable position, so
Start the acquisition of video data and audio data afterwards.Analysis wherein is carried out in real time to sound source to audio data due to using
The mode of positioning allows the platform of technical solution of the present invention according to the change of sound bearing, corresponding to change locating for itself
Position and shooting state further improve the accuracy of video data and audio data collecting.
3) technical solution of the present invention, slave computer layer are provided with expansible master controller, which is provided with airborne sensor and
Photoelectric encoder, airborne sensor can detect the barrier in mobile chassis direction of advance, so as to industrial control host root
Advance route is adjusted in time according to current location and sound source position, and photoelectric encoder can carry out the movement speed of mobile chassis
Control, the two cooperate, and guarantee that dynamic resource acquisition platform can smoothly reach specified position and carry out video data and sound
The acquisition of frequency evidence.
Detailed description of the invention
Fig. 1 is the hardware connection diagram of dynamic resource acquisition platform in technical solution of the present invention embodiment；
Fig. 2 is the signal analysis flow chart diagram of slave computer layer in technical solution of the present invention embodiment；
Fig. 3 is that relationship is registered in audio-video acquisition equipment space in technical solution of the present invention embodiment；
Fig. 4 is the connection figure of industrial personal computer built-in system module in technical solution of the present invention embodiment.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.The present invention is described in more detail With reference to embodiment.
It is the hardware device figure of the dynamic resource acquisition platform embodiment of technical solution of the present invention as shown in Figure 1, wherein wrapping
Slave computer layer and host computer layer are included, slave computer layer is connect by serial ports with host computer layer.
Slave computer layer is the motion module of dynamic resource acquisition platform, mainly includes master controller (i.e. master controller), empty
Between sensor and chassis and bracket.
In the present embodiment, the selection of slave computer master controller has the Arduino meg2560 of 54 number word input and outputs,
Major function is acquisition sensing data, parses and forward instruction, carries out simple data calculating.Arduino is by burning in core
Driver on piece ATmega2560 acquires all the sensors data, is converted into specified data format, is transmitted by serial ports
Give host computer master controller raspberry pi；After obtaining host computer instruction, Arduino sends resolve command to specified
Sensor.Further, Arduino by bis- road motor driver of L298P be integrated with ultrasonic distance measuring module,
Faulhaber2342L012 direct current generator, AB phase photoelectric encoder etc., and expansible integrated multi-degree-of-freemechanical mechanical arm, can also match
Standby 12V6600mAh high capacity cell.
As the preferred of the present embodiment, the airborne sensor of slave computer layer is made of 4 HC-SR04 ultrasonic sensors,
It is preferred that being separately mounted to front side (2) and the rear side (2) of mobile chassis, barrier when moving forward and backward for mobile platform
Detection.When practical application, the installation site of ultrasonic sensor can be further changed according to the demand of usage scenario, with
Just further the direction of motion of mobile chassis is monitored.
As the preferred of the present embodiment, the mobile chassis of slave computer layer drives motion model using differential, the present embodiment
Two Faulhaber2342L012 large torque (1.72Nm) motors and a universal wheel, revolving speed are preferably mounted on mobile chassis
Up to 120 revs/min, wheel diameter 10cm, velocity interval 0-0.8m/s are driven.A 12CPR is mounted on two driving wheels respectively
AB doubleway output photoelectric encoder, with improve speed, displacement and the direction of motion control precision.Car body uses round, stainless steel
Three layers of frame, can load-carrying 20kg, and provide sensor abundant installation interface, be easy to the integrated of multisensor and expand.Hand
Dynamic liftable support is manually adjusted the purely mechanic bracket for adjusting the steady arm of height and forming by a supporting plate and one, for pacifying
Fill audio-video acquisition equipment.
The flow chart of data processing of slave computer layer is as shown in Figure 2.Wherein, the communication interface being made of serial ports is upper for receiving
Control command that machine is sent and to host computer return current pose parameter and space based sensor data (such as ultrasonic radar data,
Laser radar data etc.).
Further, the parsing of control command and execution process are as follows:
1) command analysis.Control command type is parsed, corresponding module is then driven to execute corresponding steps.Control command point
It is motion control commands, pid parameter setting command and sensor data acquisition order respectively for three types.
2) pid parameter setting command.PID setting interface is called to complete parameter setting.
3) motion control commands execute.It drives direct current generator to execute motion command, while the appearance after the completion of executing will be ordered
State parameter returns to host computer by communication interface, as the reference for generating motion control commands next time.Due to by actual environment
Factor influences, and there are errors for motor actual speed and target velocity, are calibrated to solve this problem using pid algorithm, can
Different pid parameters is set according to varying environment, is required with meeting robot balance.
4) sensor data acquisition order.Start sensor drive module, sensing data is returned by communication interface
To host computer.
For host computer layer in this present embodiment, mainly execute slave computer layer control task and video equipment,
The data acquisition session of audio frequency apparatus.Specifically, host computer layer is mainly used for realizing the acquisition of teaching process data, acquisition control
System, mobile control and interaction configuration etc., the host computer layer in the present embodiment includes 1 industrial control host, (video is set 2 video cameras
It is standby), 1 omnidirectional microphone (audio frequency apparatus) and 1 touch display screen.Host computer layer industrial control host passes through serial ports and slave computer layer
Master controller is communicated；Meanwhile host computer layer industrial control host is communicated by Ethernet with the server of cloud service layer.
As the preferred of the present embodiment, host computer layer industrial control host is the core of mobile dynamic collection of resources platform in the present invention
Heart control unit and data prediction component.It is preferred that using Intel x86 framework cpu chip, built-in Intel HD Graphics
Show that core supports HDMI output, it may be convenient to be attached with touch display screen, touch screen is as a preferred input
End controls information for external input.In addition, industrial control host can also provide 2 gigabit network interfaces and 4 or more RS232 simultaneously
Serial ports, to meet the communicating requirement with slave computer layer equipment and cloud service stratum server.
As the preferred of the present embodiment, host computer layer touch display screen is displayed for each component working condition of platform,
Simultaneously with Wireless Keyboard with the use of the Initialize installation for completing parameters of operating part, the control such as system switching machine.Touch display screen is excellent
HDMI was gated to connect with industrial control host.
In the present embodiment, host computer layer video camera mainly completes the video acquisition work of teaching process.Utilize host computer
Video equipment (preferred video camera in the present embodiment) and audio frequency apparatus (the preferred omnidirectional of microphone in the present embodiment the present embodiment of layer
Microphone).As the further preferred of the present embodiment, each video camera carries mini holder, and video camera is fixed on holder, cloud
Platform pedestal is fixed by screws on the supporting plate of lifting support.Preferably, 2 video camera (1 main camera shootings are used in the present embodiment
Machine, 1 auxiliary camera) teaching process data resource is acquired, wherein auxiliary camera is used to execute in main camera
When shooting task, if there is more than one sound-source signal, the sound-source signal direction for adjusting the distance nearest carries out second camera.Into one
Step, the video camera in the present embodiment is connected with industrial control host by 14 mouthfuls of hub, realizes the upload and control of video data
Signal processed is assigned.
As the preferred of the present embodiment, host computer layer completes auditory localization and voice collecting function preferably by omnidirectional microphone
Can, it is connect with collection plate by tone frequency channel wire, is then passed through including 1 six wheat annular Mike plate and 1 collection plate, Mike's plate
USB line connects collection plate and industrial control host.In the present embodiment, omnidirectional microphone can be to the voice signal of effective acquisition range
It is acquired and is supplied to industrial control host and carry out auditory localization analysis, to realize the live sound positioning acquisition of teaching process.
Therefore, as the further preferred of this implementation, the industrial personal computer of the present embodiment in order to realize the above functions, such as Fig. 4 institute
Show, wherein at least include with lower module,
Auditory localization module detects main sound bearing from audio signal, for detecting the positioning of classroom alternative events, knot
Fruit exports to cradle head control module.
Cradle head control module, for driving it to go to shooting appearance appropriate by sending holder order to video capture device
State.
Motion-control module, for controlling the adjustment of mobile chassis front, rear, left and right position, it is ensured that display equipment is apart from machine
People is within 3m range.
Posture registration module, for establishing 360 degree of camera horizon direction holder rotation parameter and omnidirectional microphone sound source
The contingency table for positioning coordinate, by the contingency table, video camera can realize shooting according to auditory localization coordinate fast driving holder
Target positioning.In general, needing to execute the registration operation of device space posture when the system is first used, posture contingency table is once created
It builds, it is reusable.
Preferably, specific logon mode is as follows:
1) attitude divides.6 microphones in six wheat annular arrays are evenly distributed, form 6 pickup wave beams, respectively
From corresponding 60 degree of ranges.Simultaneously by camera rotation one week holder parameter, it is evenly dividing as 6 sections, each section correspondence
One pickup velocity of wave of omnidirectional microphone.Execute holder parameter and omnidirectional microphone that step 2.1.2 establishes 6 sections of video camera
The contingency table of pickup wave beam.
2) attitude is registered.First microphone (id0) is set for registration Initial Azimuth, controls camera pan-tilt water
Flat rotation, keeps the video camera main line of sight successively Chong Die with 6 microphones, it is Chong Die with microphone successively to record each video camera main line of sight
When holder information ptziAnd microphone idi, construct following audio-video space correlation table:
((ptz0,id0)；(pz1,id1)；(ptz2,id2)；(ptz3,id3)；(ptz4,id4)；(ptz5,id5))
To realize that camera pan-tilt posture and six principal directions of six wheat array audios acquisition equipment correspond.Registration
Video equipment B and the spatial relationship of 6 wheat array audio equipment are as shown in Figure 3 after the completion.
In the present embodiment, in order to guarantee the timeliness of teaching process (especially classroom interactive process) data acquisition, need
Sound-source signal is carried out to continue tracking.It is realized in the following way in the present embodiment.
First, region Primary Location.Camera video frame is extracted, calls display area detection method, according to testing result
Actuated camera adjustment holder and focal length parameter realize that courseware display area is completely covered, and realize the Primary Location of tracing area；
Second, track object initialization.On the basis of current camera posture, video frame is transported using Gauss modeling
Motion block detection, the moving mass correspondence image that will test is as tracking target image；
Third initializes TLD target tracking algorism using tracking target image, and calls TLD tracking module real
Existing target position (person of giving lessons position) keeps track；
4th, according to the target position information in TLD tracking result, actuated camera adjusts holder parameter, makes video camera
Tracking realization of goal picture is completely covered；
5th, every n seconds (n=2,3..., adjustable) calling display area detection algorithms, calculate display area and nearest one
The maximal encasing box of the secondary person of giving lessons position, using the bounding box coordinate actuated camera adjust focal length parameter, make video camera to
Track target and display area realize that picture is completely covered.
Further, when carrying out teaching data acquisition using the dynamic resource acquisition platform of the present embodiment, wherein
Mainly include the following steps:
1. gallery attitude updating.Correction for direction is carried out first: platform video camera being placed in initial attitude, passes through movement
Control module drives dynamic resource acquisition platform original place 360 to rotate, while transfer environment sensing module, examines in camera views
Display equipment is surveyed, stop rotating dynamic resource acquisition platform when showing that equipment appears in camera views center.Then it carries out
Range correction: it using airborne sensor detection dynamic resource acquisition platform and display equipment distance, is driven by motion-control module
Dynamic dynamic resource acquisition platform moves forward or back, and distance is made to be maintained at 3m or so.Wherein range correction be can selection operation.
2. device space posture is registered.Calling posture registration module, creation video capture device and audio collecting device
Posture contingency table.
3. initialization tracking target.Video camera is placed in initial attitude, detects motion mass (preferably in camera views
Include characteristics of human body), the initial pictures of target, setting tracking target are tracked when which is acquired as key frame
Corresponding pickup section is principal direction.
4. key frame acquires.It is initialized using initial target image and continues tracking module and start to draw every frame of video camera
Face circulation executes the module, exports result: 1) changing posture and focal length by cradle head control module actuated camera, make the person of giving lessons
And courseware display area is maintained in video pictures (holding of abbreviation picture) simultaneously；2) if video camera sight exceeds sound pick-up master
When direction, the corresponding pickup section in setting current gaze direction is principal direction.
Under normal circumstances, the principle that picture is kept is adjustment camera pan-tilt and focal length parameter, keeps camera views complete
Cover the person of giving lessons and courseware display area.It is excellent when the person of giving lessons and courseware display area, which clash, cannot achieve completion covering
First consider to realize that picture is completely covered to the person of giving lessons.So-called picture is completely covered, and refers to that (person of giving lessons, courseware are shown photographic subjects
Region) the area in picture account for the 3/4 of entire picture area.
5. auxiliary image acquires.Auxiliary image acquisition includes the acquisition of class interaction picture and classroom routine status screen
Acquisition.Class interaction picture refers to voice, behavior picture of the participant on classroom other than the person of giving lessons that classroom occurs.
Classroom routine status screen is the classroom status screen that all participants that give lessons collectively form during classroom is given lessons.
For the acquisition of class interaction picture, when interactive event occurs, preferably pass through sound source in the present embodiment
The azimuthal coordinates of locating module detecting event sound source determine camera pan-tilt parameter by searching for posture contingency table, call holder
Control module drives auxiliary camera to carry out pose adjustment, realizes the acquisition of mutual-action behavior picture.
Specifically, when the disappearance of six wheat array principal direction volumes, and there is abnormal louder volume (event side in non-principal direction
To louder volume), it is judged to occurring interactive event at this time, six wheat arrays of setting are omnidirectional's pickup mode, while triggering classroom interaction
The acquisition of behavior picture.When event direction louder volume disappears, former principal direction louder volume restores, and is determined as that interactive event terminates at this time,
Return to key frame acquisition mode.In addition, before stopping acquisition after triggering class interaction picture acquisition, but original event direction
Louder volume disappears, and louder volume occur in other directions (non-original principal direction), is determined as multiple continuous interactive events at this time, according to new
The Sounnd source direction of event, driving auxiliary camera transformation posture continue the acquisition of class interaction picture.
For the acquisition of classroom routine status screen, in the present embodiment, appoint in the acquisition of no class interaction picture
When business, preferably timing driving second camera machine head does the flat uniform rotation of low speed water, realizes to the picture in non-principal direction
Acquisition.Its main process is, using clocked flip mechanism, initial attitude is first pickup section on the left of principal direction, counterclockwise
Rotary head.If detecting class interaction in collection process, this acquisition is terminated, executes the acquisition of classroom interaction picture.
Further, when auxiliary camera sight reaches the first pickup section in principal direction right side, terminate acquisition.
It encodes to obtain the naked stream of audio by AAC finally, for platform audio signal all the way collected, system is collected
Two-path video data obtain the naked stream of two-path video by H.264 coding, and the naked stream of audio is separately added into the naked stream of two-path video, encapsulate
At ts stream format, resource dissemination module is transferred to complete the net distribution work of resource.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (9)
1. a kind of dynamic resource acquisition platform suitable for teaching process, including host computer layer and slave computer layer, which is characterized in that
The host computer layer includes video equipment, audio frequency apparatus and industrial control host, the industrial control host respectively with video equipment and
Audio frequency apparatus is connected, and carries out auditory localization according to the collected audio-frequency information of audio frequency apparatus, generates control instruction to control
Video equipment and/or audio frequency apparatus carry out video data and/or audio data acquisition；
The slave computer layer includes master controller, mobile chassis and lifting support, and the mobile chassis can be in driving force effect
The lower control instruction issued according to master controller moves in the horizontal direction, which is provided with height-adjustable lifting support, depending on
Frequency equipment and/or audio frequency apparatus are mounted on lifting support by rotary head；
Serial communication is used between industrial control host and master controller, industrial control host issues position to master controller according to auditory localization
Regulating command realizes that the position of mobile chassis and lifting support is adjusted, to adapt to the dynamic resource acquisition of various teaching process.
2. a kind of dynamic resource acquisition platform suitable for teaching process according to claim 1, wherein the slave computer
Layer further includes airborne sensor, and the airborne sensor includes the ultrasonic sensor that at least one is mounted on mobile chassis,
For being detected to the barrier in the mobile chassis direction of advance.
3. a kind of dynamic resource acquisition platform suitable for teaching process according to claim 1, wherein the slave computer
Layer further includes airborne sensor, and the airborne sensor includes four ultrasonic sensors, is separately mounted to the four of mobile chassis
On a direction, for being detected to the barrier in the mobile chassis direction of advance.
4. described in any item a kind of dynamic resource acquisition platforms suitable for teaching process according to claim 1~3, wherein
The slave computer layer further includes photoelectric encoder, and the photoelectric encoder is according to the control instruction of master controller, to mobile chassis
Speed, displacement and the direction of motion be adjusted.
5. a kind of dynamic resource acquisition platform suitable for teaching process according to claim 4, wherein the mobile bottom
Disk is equipped at least two driving wheels, and the photoelectric encoder controls driving wheel, to realize the speed to mobile chassis
Degree, displacement and the direction of motion are adjusted.
6. described in any item a kind of dynamic resource acquisition platforms suitable for teaching process according to claim 1~5, wherein
The master controller of the slave computer layer packet is equipped with multiple scalability sensors and installs interface, to adapt to the integrated of multiple sensors
And expansion.
7. a kind of dynamic resource for carrying out teaching process using any one of the claim 1~6 dynamic resource acquisition platform is adopted
Set method, which is characterized in that including
S1 starts industrial control host, and video equipment and audio frequency apparatus are initialized and started；
S2 audio frequency apparatus is captured and is acquired to the audio signal in the spatial dimension of place；
S3 parses the audio data received, calculates the distance between dynamic resource acquisition platform and sound source, generates position
Regulating command；
Mobile chassis and lifting support are adjusted to corresponding position according to position regulating command by S4；
S5 drives video equipment and audio frequency apparatus to be directed at sound bearing, starts to carry out adopting for video data and audio data respectively
Collection obtains teaching process data.
8. dynamic resource acquisition method according to claim 7, wherein initialization includes setting to video described in step S1
Standby and/or audio frequency apparatus carries out posture registration, and its step are as follows,
Plane space is divided into several sections according to audio frequency apparatus by S11, and each section corresponds to a pickup wave of audio frequency apparatus
Beam；
S12 selects any one section as starting section, and control camera pan-tilt rotates horizontally, and makes the video camera main line of sight successively
Pickup beam direction overlapping corresponding with each section；
Each section and its corresponding pickup beam direction and camera pan-tilt position are associated by S13, construct video equipment,
The space correlation table of audio frequency apparatus, so that industrial personal computer can drive video equipment to corresponding position to be regarded according to auditory localization
Frequency is according to acquisition.
9. dynamic resource acquisition method according to claim 7 or 8, wherein include in the step S4,
S41 parses position regulating command, obtains the horizontal displacement route and video equipment, sound of dynamic resource acquisition platform
The preset height of frequency equipment；
S42 adjusts lifting support, and video equipment, audio frequency apparatus are fixed to preset height；
Whether there are obstacles on S43 determined level displacement route, and obstacle information is then fed back to industrial control host life if it exists
The position regulating command of Cheng Xin enters step S41, and dynamic resource acquisition platform is otherwise moved to corresponding position.
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